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add parameters for adjusting ALTCTL deadband

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This commit is contained in:
Mark Whitehorn
2016-02-17 15:22:28 +01:00
committed by tumbili
parent ead3eeda6c
commit 8cd4b57c6b
2 changed files with 37 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+26
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@@ -66,6 +66,32 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
*/
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/**
* ALTCTL throttle curve breakpoint
*
* Halfwidth of deadband or reduced sensitivity center portion of curve.
* This is the halfwidth of the center region of the ALTCTL throttle
* curve. It extends from center-dz to center+dz.
*
* @min 0.0
* @max 0.2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALTCTL_DZ, 0.1f);
/**
* ALTCTL throttle curve breakpoint height
*
* Controls the slope of the reduced sensitivity region.
* This is the height of the ALTCTL throttle
* curve at center-dz and center+dz.
*
* @min 0.0
* @max 0.2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALTCTL_DY, 0.0f);
/**
* Maximum thrust in auto thrust control
*